VAL_GetMotorTemperature
FUNCTION_BLOCK VAL_GetMotorTemperature
This function block returns the temperature of each motor of the robot.This function is available for CS9 controller ONLY.
The parameter ErrorID shows the axes for which the temperature could not be gathered and shall be interpreted as a bitfield:
Bit No | Description |
|---|---|
0 | Temperature motor 1 could not be gathered |
1 | Temperature motor 2 could not be gathered |
2 | Temperature motor 3 could not be gathered |
3 | Temperature motor 4 could not be gathered |
4 | Temperature motor 5 could not be gathered |
5 | Temperature motor 6 could not be gathered |
Syntax
Definition:
FUNCTION_BLOCK VAL_GetMotorTemperature
VAR_INPUT
Execute : BOOL := FALSE;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
MotorTemp1 : REAL := 0;
MotorTemp2 : REAL := 0;
MotorTemp3 : REAL := 0;
MotorTemp4 : REAL := 0;
MotorTemp5 : REAL := 0;
MotorTemp6 : REAL := 0;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
Name | Type | Description |
|---|---|---|
Execute | BOOL | Rising edge triggers function execution |
Outputs
Name | Type | Description |
|---|---|---|
Busy | BOOL | Set when function block is executing. Reset when Done or Error is set |
Done | BOOL | This output is set when function block has terminated with success |
Error | BOOL | This output is set when function block has terminated with error |
ErrorID | UDINT | Error code |
MotorTemp1 | REAL | Temperature of motor 1 |
MotorTemp2 | REAL | Temperature of motor 2 |
MotorTemp3 | REAL | Temperature of motor 3 |
MotorTemp4 | REAL | Temperature of motor 4 |
MotorTemp5 | REAL | Temperature of motor 5 - Not applicable for 4 axis robots |
MotorTemp6 | REAL | Temperature of motor 6 - Not applicable for 4 axis robots |